Estimation of hand force for analyzing side-approach transfer motion

In order to clarify the side-transfer ability of spinal cord injury (SCI) patients, it is necessary to analyze the side-transfer motion of SCI patients. This paper describes the method of detecting the body position during the transfer motion and calculating the force of right hand that cannot be directly measured by our system. The body position is estimated by the simple human body model that consists of five cuboids, nine columns, and two elliptical cylinders. The vertical force of the right hand could be calculated by other measured force data, such as leg forces, left hand force, or left wheels forces. It was clearly shown that the body weight supported by both hands gradually moved from the right hand to the left hand.